Submission ID: ce67800d
COTR guided matching
Processed: 21-06-07. Download link: ce67800df501292f-cotr_guided_2048_disk.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: Wei Jiang (contact)
- Keypoint: disk
- Descriptor: not-available (0 none: 0 bytes)
- Number of features: 2048
- Summary: Image with 2048 disk keypoints(feature free), matched with COTR. Further pruned with degensac.
- Paper: https://arxiv.org/abs/2103.14167
- Website: https://jiangwei221.github.io/vids/cotr/README.html
- Processing date: 21-06-07
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.55225 (±0.00000 over 1 run(s) / ±0.13163 over 9 scenes)
Rank (per category): 35 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 726.2 | 0.611 Rank: 4/87 |
0.935 Rank: 16/87 |
0.25474 (±0.00000) Rank: 51/87 |
0.39048 (±0.00000) Rank: 50/87 |
FCS | 2048.0 | — | 514.3 | 0.415 Rank: 24/87 |
0.888 Rank: 10/87 |
0.61662 (±0.00000) Rank: 38/87 |
0.73359 (±0.00000) Rank: 39/87 |
LMS | 2048.0 | — | 444.7 | 0.388 Rank: 58/87 |
0.665 Rank: 63/87 |
0.55049 (±0.00000) Rank: 39/87 |
0.68879 (±0.00000) Rank: 35/87 |
LB | 2048.0 | — | 398.3 | 0.450 Rank: 9/87 |
0.748 Rank: 13/87 |
0.46610 (±0.00000) Rank: 51/87 |
0.57673 (±0.00000) Rank: 40/87 |
MC | 2048.0 | — | 675.6 | 0.550 Rank: 1/87 |
0.911 Rank: 24/87 |
0.40147 (±0.00000) Rank: 51/87 |
0.55785 (±0.00000) Rank: 3/87 |
MR | 2048.0 | — | 499.3 | 0.443 Rank: 12/87 |
0.922 Rank: 15/87 |
0.29339 (±0.00000) Rank: 3/87 |
0.40115 (±0.00000) Rank: 12/87 |
PSM | 2048.0 | — | 425.6 | 0.371 Rank: 12/87 |
0.740 Rank: 3/87 |
0.20376 (±0.00000) Rank: 35/87 |
0.35038 (±0.00000) Rank: 36/87 |
SF | 2048.0 | — | 465.9 | 0.378 Rank: 24/87 |
0.815 Rank: 15/87 |
0.49965 (±0.00000) Rank: 33/87 |
0.62729 (±0.00000) Rank: 35/87 |
SPC | 2048.0 | — | 550.8 | 0.476 Rank: 3/87 |
0.858 Rank: 5/87 |
0.47924 (±0.00000) Rank: 38/87 |
0.64394 (±0.00000) Rank: 36/87 |
Avg | 2048.0 | — | 522.3 | 0.454 Rank: 5/87 |
0.831 Rank: 5/87 |
0.41838 (±0.00000) Rank: 35/87 |
0.55225 (±0.00000) Rank: 35/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10485 over 9 scenes)
Rank (per category): 32 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 724.10 | 100.00 Rank: 1/87 |
2406.09 Rank: 4/87 |
6.639 Rank: 8/87 |
0.44792 Rank: 50/87 |
0.48933 (±0.00000) Rank: 50/87 |
0.64807 (±0.00000) Rank: 50/87 |
FCS | 2048.0 | 525.04 | 98.53 Rank: 10/87 |
2777.17 Rank: 16/87 |
5.355 Rank: 4/87 |
0.23031 Rank: 17/87 |
0.74912 (±0.00000) Rank: 22/87 |
0.80724 (±0.00000) Rank: 20/87 |
LMS | 2048.0 | 468.35 | 99.73 Rank: 5/87 |
2458.76 Rank: 4/87 |
5.480 Rank: 42/87 |
0.31132 Rank: 55/87 |
0.83154 (±0.00000) Rank: 40/87 |
0.88865 (±0.00000) Rank: 39/87 |
LB | 2048.0 | 463.53 | 98.36 Rank: 1/87 |
2086.97 Rank: 34/87 |
5.826 Rank: 10/87 |
0.48547 Rank: 32/87 |
0.73810 (±0.00000) Rank: 3/87 |
0.82227 (±0.00000) Rank: 3/87 |
MC | 2048.0 | 664.87 | 100.00 Rank: 1/87 |
2577.14 Rank: 5/87 |
6.331 Rank: 7/87 |
0.31444 Rank: 3/87 |
0.57370 (±0.00000) Rank: 4/87 |
0.72060 (±0.00000) Rank: 3/87 |
MR | 2048.0 | 488.56 | 95.40 Rank: 15/87 |
2706.81 Rank: 2/87 |
4.958 Rank: 10/87 |
0.54977 Rank: 52/87 |
0.41867 (±0.00000) Rank: 39/87 |
0.54134 (±0.00000) Rank: 36/87 |
PSM | 2048.0 | 420.86 | 99.80 Rank: 4/87 |
2900.00 Rank: 6/87 |
4.901 Rank: 3/87 |
0.29498 Rank: 2/87 |
0.66846 (±0.00000) Rank: 3/87 |
0.75314 (±0.00000) Rank: 4/87 |
SF | 2048.0 | 457.57 | 99.67 Rank: 39/87 |
2865.90 Rank: 20/87 |
5.106 Rank: 7/87 |
0.28631 Rank: 36/87 |
0.77390 (±0.00000) Rank: 35/87 |
0.85774 (±0.00000) Rank: 32/87 |
SPC | 2048.0 | 561.76 | 100.00 Rank: 1/87 |
2585.22 Rank: 7/87 |
5.954 Rank: 7/87 |
0.50501 Rank: 58/87 |
0.73822 (±0.00000) Rank: 36/87 |
0.82984 (±0.00000) Rank: 37/87 |
Avg | 2048.0 | 530.52 | 99.05 Rank: 4/87 |
2596.01 Rank: 4/87 |
5.617 Rank: 7/87 |
0.38061 Rank: 39/87 |
0.66456 (±0.00000) Rank: 34/87 |
0.76321 (±0.00000) Rank: 32/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.58918 (±0.00000 over 1 run(s) / ±0.06394 over 3 scenes)
Rank (per category): 47 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 317.0 | 0.036 Rank: 20/87 |
0.015 Rank: 3/87 |
0.37448 (±0.00000) Rank: 51/87 |
0.51137 (±0.00000) Rank: 50/87 |
Pond | 2048.0 | — | 375.5 | 0.063 Rank: 15/87 |
0.055 Rank: 12/87 |
0.45932 (±0.00000) Rank: 42/87 |
0.58818 (±0.00000) Rank: 44/87 |
Tree | 2048.0 | — | 260.7 | 0.042 Rank: 14/87 |
0.021 Rank: 53/87 |
0.53554 (±0.00000) Rank: 48/87 |
0.66799 (±0.00000) Rank: 47/87 |
Avg | 2048.0 | — | 317.7 | 0.047 Rank: 15/87 |
0.030 Rank: 4/87 |
0.45645 (±0.00000) Rank: 48/87 |
0.58918 (±0.00000) Rank: 47/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14441 over 3 scenes)
Rank (per category): 43 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 370.64 | 85.30 Rank: 19/87 |
1205.40 Rank: 22/87 |
3.417 Rank: 17/87 |
14.29127 Rank: 52/87 |
0.56216 (±0.00000) Rank: 44/87 |
0.64716 (±0.00000) Rank: 46/87 |
Pond | 2048.0 | 474.09 | 68.93 Rank: 28/87 |
1141.16 Rank: 3/87 |
3.172 Rank: 5/87 |
0.43492 Rank: 49/87 |
0.25453 (±0.00000) Rank: 52/87 |
0.29346 (±0.00000) Rank: 50/87 |
Tree | 2048.0 | 295.24 | 71.03 Rank: 38/87 |
781.54 Rank: 4/87 |
3.090 Rank: 7/87 |
6.00753 Rank: 35/87 |
0.43180 (±0.00000) Rank: 34/87 |
0.47497 (±0.00000) Rank: 29/87 |
Avg | 2048.0 | 379.99 | 75.09 Rank: 22/87 |
1042.70 Rank: 4/87 |
3.227 Rank: 3/87 |
6.91124 Rank: 41/87 |
0.41616 (±0.00000) Rank: 45/87 |
0.47186 (±0.00000) Rank: 43/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.33564 (±0.00000 over 1 run(s) / ±0.13433 over 17 scenes)
Rank (per category): 38 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 315.4 | 0.22411 (±0.00000) Rank: 32/87 |
0.36830 (±0.00000) Rank: 31/87 |
Bangkok (BGK) | 2048.0 | — | 386.6 | 0.06352 (±0.00000) Rank: 21/87 |
0.17593 (±0.00000) Rank: 22/87 |
Barcelona (BCN) | 2048.0 | — | 180.3 | 0.09524 (±0.00000) Rank: 38/87 |
0.16007 (±0.00000) Rank: 42/87 |
Buenos Aires (BAR) | 2048.0 | — | 233.8 | 0.21096 (±0.00000) Rank: 32/87 |
0.34840 (±0.00000) Rank: 36/87 |
Cambridge (CAM) | 2048.0 | — | 296.1 | 0.32808 (±0.00000) Rank: 32/87 |
0.46849 (±0.00000) Rank: 14/87 |
Cannes (CAN) | 2048.0 | — | 319.3 | 0.38894 (±0.00000) Rank: 31/87 |
0.48756 (±0.00000) Rank: 34/87 |
Chicago (CHI) | 2048.0 | — | 64.1 | 0.09044 (±0.00000) Rank: 42/87 |
0.14911 (±0.00000) Rank: 44/87 |
Helsinki (HEL) | 2048.0 | — | 477.3 | 0.37629 (±0.00000) Rank: 24/87 |
0.57010 (±0.00000) Rank: 29/87 |
Madrid (MAD) | 2048.0 | — | 168.8 | 0.06322 (±0.00000) Rank: 40/87 |
0.15836 (±0.00000) Rank: 39/87 |
Mountain View (MTV) | 2048.0 | — | 168.4 | 0.16328 (±0.00000) Rank: 38/87 |
0.28828 (±0.00000) Rank: 38/87 |
New Orleans (NOR) | 2048.0 | — | 160.5 | 0.23373 (±0.00000) Rank: 34/87 |
0.31331 (±0.00000) Rank: 36/87 |
San Francisco (SF) | 2048.0 | — | 253.7 | 0.17008 (±0.00000) Rank: 36/87 |
0.29528 (±0.00000) Rank: 37/87 |
Singapore (SG) | 2048.0 | — | 228.8 | 0.22658 (±0.00000) Rank: 41/87 |
0.33639 (±0.00000) Rank: 41/87 |
Sydney (SYD) | 2048.0 | — | 195.2 | 0.27511 (±0.00000) Rank: 36/87 |
0.41441 (±0.00000) Rank: 37/87 |
Tokyo (TOK) | 2048.0 | — | 260.9 | 0.46029 (±0.00000) Rank: 42/87 |
0.59951 (±0.00000) Rank: 42/87 |
Toronto (TOR) | 2048.0 | — | 121.8 | 0.12080 (±0.00000) Rank: 45/87 |
0.25320 (±0.00000) Rank: 43/87 |
Zurich (ZRH) | 2048.0 | — | 245.3 | 0.23574 (±0.00000) Rank: 32/87 |
0.31924 (±0.00000) Rank: 36/87 |
Average (Avg) | 2048.0 | — | 239.8 | 0.21920 (±0.00000) Rank: 36/87 |
0.33564 (±0.00000) Rank: 38/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12977 over 17 scenes)
Rank (per category): 40 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 197.06 | 85.91 Rank: 40/87 |
1586.35 Rank: 4/87 |
3.881 Rank: 6/87 |
23.49138 Rank: 14/87 |
0.30821 (±0.00000) Rank: 37/87 |
0.39498 (±0.00000) Rank: 38/87 |
BGK | 2048.0 | 264.99 | 96.40 Rank: 29/87 |
2480.86 Rank: 19/87 |
3.770 Rank: 6/87 |
11.56650 Rank: 9/87 |
0.02546 (±0.00000) Rank: 31/87 |
0.08326 (±0.00000) Rank: 30/87 |
BCN | 2048.0 | 109.40 | 79.37 Rank: 41/87 |
808.24 Rank: 32/87 |
3.554 Rank: 41/87 |
25.70295 Rank: 20/87 |
0.12033 (±0.00000) Rank: 34/87 |
0.19229 (±0.00000) Rank: 34/87 |
BAR | 2048.0 | 135.27 | 81.99 Rank: 36/87 |
1188.29 Rank: 28/87 |
3.312 Rank: 37/87 |
14.64632 Rank: 14/87 |
0.16459 (±0.00000) Rank: 19/87 |
0.27007 (±0.00000) Rank: 23/87 |
CAM | 2048.0 | 179.41 | 89.06 Rank: 12/87 |
1610.25 Rank: 1/87 |
3.560 Rank: 18/87 |
26.75835 Rank: 28/87 |
0.19105 (±0.00000) Rank: 15/87 |
0.28345 (±0.00000) Rank: 15/87 |
CAN | 2048.0 | 176.31 | 76.28 Rank: 29/87 |
831.37 Rank: 28/87 |
3.547 Rank: 18/87 |
19.22556 Rank: 27/87 |
0.04772 (±0.00000) Rank: 36/87 |
0.09467 (±0.00000) Rank: 35/87 |
CHI | 2048.0 | 55.72 | 75.01 Rank: 43/87 |
354.38 Rank: 35/87 |
3.864 Rank: 44/87 |
49.51692 Rank: 52/87 |
0.04839 (±0.00000) Rank: 39/87 |
0.09439 (±0.00000) Rank: 41/87 |
HEL | 2048.0 | 340.18 | 94.60 Rank: 17/87 |
2441.46 Rank: 8/87 |
3.999 Rank: 29/87 |
13.65311 Rank: 20/87 |
0.29246 (±0.00000) Rank: 38/87 |
0.42217 (±0.00000) Rank: 37/87 |
MAD | 2048.0 | 104.74 | 87.35 Rank: 40/87 |
1119.06 Rank: 33/87 |
3.292 Rank: 21/87 |
4.56129 Rank: 12/87 |
0.03912 (±0.00000) Rank: 43/87 |
0.10174 (±0.00000) Rank: 43/87 |
MTV | 2048.0 | 126.53 | 88.34 Rank: 40/87 |
1096.74 Rank: 32/87 |
3.760 Rank: 38/87 |
14.95731 Rank: 10/87 |
0.15973 (±0.00000) Rank: 42/87 |
0.26196 (±0.00000) Rank: 42/87 |
NOR | 2048.0 | 105.57 | 75.58 Rank: 39/87 |
860.38 Rank: 31/87 |
3.131 Rank: 42/87 |
11.68458 Rank: 22/87 |
0.14288 (±0.00000) Rank: 38/87 |
0.20607 (±0.00000) Rank: 38/87 |
SF | 2048.0 | 158.36 | 89.36 Rank: 41/87 |
1359.37 Rank: 30/87 |
3.705 Rank: 25/87 |
16.33568 Rank: 13/87 |
0.18266 (±0.00000) Rank: 39/87 |
0.30074 (±0.00000) Rank: 39/87 |
SG | 2048.0 | 141.24 | 69.38 Rank: 42/87 |
844.53 Rank: 31/87 |
3.414 Rank: 13/87 |
15.19874 Rank: 12/87 |
0.10236 (±0.00000) Rank: 43/87 |
0.15358 (±0.00000) Rank: 42/87 |
SYD | 2048.0 | 119.52 | 80.81 Rank: 41/87 |
951.04 Rank: 37/87 |
3.336 Rank: 38/87 |
20.28132 Rank: 26/87 |
0.23330 (±0.00000) Rank: 37/87 |
0.31881 (±0.00000) Rank: 37/87 |
TOK | 2048.0 | 164.26 | 85.57 Rank: 43/87 |
1606.38 Rank: 33/87 |
3.703 Rank: 30/87 |
12.42759 Rank: 12/87 |
0.46110 (±0.00000) Rank: 45/87 |
0.53102 (±0.00000) Rank: 45/87 |
TOR | 2048.0 | 76.88 | 75.22 Rank: 43/87 |
696.32 Rank: 42/87 |
3.158 Rank: 39/87 |
12.33538 Rank: 11/87 |
0.07199 (±0.00000) Rank: 43/87 |
0.14103 (±0.00000) Rank: 43/87 |
ZRH | 2048.0 | 150.27 | 78.55 Rank: 42/87 |
1153.00 Rank: 34/87 |
3.470 Rank: 21/87 |
15.10363 Rank: 12/87 |
0.03604 (±0.00000) Rank: 44/87 |
0.07926 (±0.00000) Rank: 43/87 |
Avg | 2048.0 | 153.28 | 82.87 Rank: 40/87 |
1234.59 Rank: 31/87 |
3.556 Rank: 34/87 |
18.08509 Rank: 15/87 |
0.15455 (±0.00000) Rank: 40/87 |
0.23115 (±0.00000) Rank: 40/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ce67800df501292f-cotr_guided_2048_disk/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)